WO2016123702A1 - Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels - Google Patents
Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels Download PDFInfo
- Publication number
- WO2016123702A1 WO2016123702A1 PCT/CA2016/050088 CA2016050088W WO2016123702A1 WO 2016123702 A1 WO2016123702 A1 WO 2016123702A1 CA 2016050088 W CA2016050088 W CA 2016050088W WO 2016123702 A1 WO2016123702 A1 WO 2016123702A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- orientation
- cup
- pelvis
- patient
- inertial sensor
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
- A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
Definitions
- the acetabular cup is typically positioned in the reamed acetabulum by way of an impactor.
- the impactor has a stem at an end of which is the acetabular cup.
- the stem is handled by an operator that impacts the free end so as to drive the acetabular cup into the acetabulum. It is however important that the operator holds the stem of the impactor in a precise three-dimensional orientation so as to ensure the adequate orientation of the acetabular cup, in terms of inclination and anteversion.
- two of said at least one inertial sensor unit are provided, one of said inertial sensor unit being connected to the cup implanting device, another one of said inertial sensor unit incorporated in a pelvic reference adapted to be fixed to the pelvis of the patient, for tracking the reference axis during movements of the pelvis.
- Fig. 2 is a flow chart of a method for calculating an orientation of a cup implanting device relative to a pelvis using inertial sensors
- the device 10 may additionally comprise a rotation indicator 22 (a.k.a., pointing device), used to acquire a missing third degree of freedom, rotation about the yaw axis, as described hereinafter.
- the rotation indicator 22 is positioned at a fixed position and orientation relative to the center of the acetabular cup C, when attached to the tooling end 12 of the device 10.
- the rotation indicator 22 is a light source, such as a planar laser which projects a line onto a surface, or a laser beam producing a point.
- the line is representative of a known orientation when projected onto a reference landmark, and is thus used when defining the initial position of the device 10 as described hereinafter.
- the longitudinal axis of the device 10 lies in the light plane produced by the rotation indicator 22.
- a distance and vector of the light plane is known relative to the center of the acetabular cup C.
- X-Axis is aligned with the medio-lateral axis of the patient projected on the ground plane (e.g., OR table); and
- Pitch the angle between the longitudinal axis of the device 10, or cup normal, and a plane perpendicular to the gravity vector (i.e., in which the X-Axis and the Y-Axis lie). This information is known and provided by the accelerometer set of the inertial sensor unit 18.
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Prostheses (AREA)
- Pain & Pain Management (AREA)
- Rheumatology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgical Instruments (AREA)
Abstract
La présente invention concerne un système de chirurgie assistée par ordinateur (CAO) qui comprend un dispositif d'implantation de cupule comprenant une tige ayant une extrémité d'outillage et une extrémité de manche avec un manche pour être manipulé, la tige ayant un axe longitudinal, l'extrémité d'outillage étant adaptée pour soutenir une cupule destinée à être reçue dans un acétabulum d'un patient, et un indicateur de rotation ayant un guide visuel représentatif d'un plan de dispositif, le plan de dispositif étant à une position et dans une orientation connues par rapport à un centre de la cupule sur l'extrémité d'outillage. Une unité de traitement CAO comprend au moins une unité de capteur inertiel raccordée au dispositif d'implantation de cupule, l'unité de capteur inertiel délivrant en sortie des mesures sur trois axes et ayant une orientation prédéfinie virtuelle par rapport à un axe de référence du bassin du patient, l'orientation prédéfinie virtuelle étant basée sur une imagerie préopératoire spécifique du bassin du patient, l'axe de référence du bassin traversant un centre de rotation dudit acétabulum du bassin et traversant un repère de référence du bassin, où une orientation sur trois axes instantanés de l'axe longitudinal du dispositif d'implantation de cupule est connue sur le plan trigonométrique par rapport à l'axe de référence lorsque la cupule est dans l'acétabulum du patient et le plan de dispositif traverse le repère de référence par l'intermédiaire du guide visuel, l'orientation sur trois axes instantanée utilisée pour étalonner l'unité de capteur inertiel sur le dispositif d'implantation de cupule par rapport au bassin.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201680008240.3A CN107205782B (zh) | 2015-02-02 | 2016-02-02 | 使用惯性传感器用于杯植入物的方法和装置 |
CA2974848A CA2974848A1 (fr) | 2015-02-02 | 2016-02-02 | Procede et dispositif pour implantation de cupule au moyen de capteurs inertiels |
EP16746028.6A EP3253321A4 (fr) | 2015-02-02 | 2016-02-02 | Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562110850P | 2015-02-02 | 2015-02-02 | |
US62/110,850 | 2015-02-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016123702A1 true WO2016123702A1 (fr) | 2016-08-11 |
Family
ID=56552676
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CA2016/050088 WO2016123702A1 (fr) | 2015-02-02 | 2016-02-02 | Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels |
Country Status (5)
Country | Link |
---|---|
US (2) | US10881470B2 (fr) |
EP (1) | EP3253321A4 (fr) |
CN (1) | CN107205782B (fr) |
CA (1) | CA2974848A1 (fr) |
WO (1) | WO2016123702A1 (fr) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7559931B2 (en) | 2003-06-09 | 2009-07-14 | OrthAlign, Inc. | Surgical orientation system and method |
US8549888B2 (en) | 2008-04-04 | 2013-10-08 | Nuvasive, Inc. | System and device for designing and forming a surgical implant |
ES2683029T3 (es) | 2008-07-24 | 2018-09-24 | OrthAlign, Inc. | Sistemas para el reemplazo de articulaciones |
US20100137871A1 (en) | 2008-09-10 | 2010-06-03 | OrthAlign, Inc. | Hip surgery systems and methods |
US8118815B2 (en) | 2009-07-24 | 2012-02-21 | OrthAlign, Inc. | Systems and methods for joint replacement |
US10869771B2 (en) | 2009-07-24 | 2020-12-22 | OrthAlign, Inc. | Systems and methods for joint replacement |
EP2849683A4 (fr) | 2012-05-18 | 2015-11-25 | Orthalign Inc | Dispositifs et méthodes pour arthroplastie du genou |
US9649160B2 (en) | 2012-08-14 | 2017-05-16 | OrthAlign, Inc. | Hip replacement navigation system and method |
US20160262800A1 (en) | 2015-02-13 | 2016-09-15 | Nuvasive, Inc. | Systems and methods for planning, performing, and assessing spinal correction during surgery |
US10363149B2 (en) | 2015-02-20 | 2019-07-30 | OrthAlign, Inc. | Hip replacement navigation system and method |
JP2019514450A (ja) | 2016-03-02 | 2019-06-06 | ニューヴェイジヴ,インコーポレイテッド | 脊椎矯正外科計画のためのシステムおよび方法 |
US10716630B2 (en) | 2016-07-15 | 2020-07-21 | Mako Surgical Corp. | Systems and methods for a robotic-assisted revision procedure |
AU2017358069B2 (en) * | 2016-11-14 | 2023-06-22 | Vivid Surgical Pty Ltd | Alignment apparatus for use in surgery |
EP3595550A4 (fr) | 2017-03-14 | 2020-12-30 | OrthAlign, Inc. | Systèmes et procédés de mesure& d'équilibrage de tissu mou |
CA3056382A1 (fr) * | 2017-03-14 | 2018-09-20 | OrthAlign, Inc. | Systemes et procedes de guidage pour un remplacement de hanche |
GB201705918D0 (en) * | 2017-04-12 | 2017-05-24 | Depuy Ireland Ultd Co | Orientation guide |
GB201705920D0 (en) | 2017-04-12 | 2017-05-24 | Depuy Ireland Ultd Co | Apparatus and method for hip surgery |
US11647920B2 (en) * | 2017-09-15 | 2023-05-16 | Mirus Llc | Systems and methods for measurement of anatomic alignment |
CN109793563B (zh) * | 2019-01-31 | 2020-07-14 | 山东大学齐鲁医院 | 一种骨盆骨折微创治疗用置钉定位***及工作方法 |
CN109846528B (zh) * | 2019-03-01 | 2021-04-02 | 山东新华联合骨科器材股份有限公司 | 基于惯性导航的关节置换手术辅助定位方法及*** |
GB2593895A (en) * | 2020-04-06 | 2021-10-13 | Sean Oconnor | Surgical implant procedures |
CA3229379A1 (fr) * | 2021-11-02 | 2023-05-11 | Orthosoft Ulc | Systeme robotique sur os pour chirurgie assistee par ordinateur |
Citations (6)
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US20100076505A1 (en) * | 2008-09-10 | 2010-03-25 | OrthAlign, Inc. | Hip surgery systems and methods |
US20100249796A1 (en) * | 2009-03-24 | 2010-09-30 | Biomet Manufacturing Corp. | Method and Apparatus for Aligning and Securing an Implant Relative to a Patient |
US20140031722A1 (en) * | 2012-07-30 | 2014-01-30 | Orthosoft, Inc. | Pelvic digitizer device with inertial sensor unit and method |
US20140052149A1 (en) * | 2012-08-14 | 2014-02-20 | OrthAlign, Inc. | Hip replacement navigation system and method |
WO2014063181A1 (fr) * | 2012-10-26 | 2014-05-01 | Inline Orthopaedics Pty Ltd | Système chirurgical |
US20140364858A1 (en) * | 2013-06-11 | 2014-12-11 | Orthosoft, Inc. | Acetabular cup prosthesis positioning instrument and method |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004112610A2 (fr) | 2003-06-09 | 2004-12-29 | Vitruvian Orthopaedics, Llc | Dispositif et procede d'orientation chirurgicale |
US8608749B2 (en) * | 2006-02-27 | 2013-12-17 | Biomet Manufacturing, Llc | Patient-specific acetabular guides and associated instruments |
GB201009116D0 (en) | 2010-06-01 | 2010-07-14 | Materialise Nv | Acetabular cup reamer |
US20150297362A1 (en) | 2012-11-02 | 2015-10-22 | Polaris Surgical Llc | Systems and methods for measuring orthopedic parameters in arthroplastic procedures |
CN103735303B (zh) | 2014-01-07 | 2015-09-30 | 清华大学 | 全髋关节置换术中髋关节内部实时可视辅助定位*** |
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2016
- 2016-02-02 US US15/013,507 patent/US10881470B2/en active Active
- 2016-02-02 EP EP16746028.6A patent/EP3253321A4/fr active Pending
- 2016-02-02 CA CA2974848A patent/CA2974848A1/fr active Pending
- 2016-02-02 CN CN201680008240.3A patent/CN107205782B/zh active Active
- 2016-02-02 WO PCT/CA2016/050088 patent/WO2016123702A1/fr active Application Filing
-
2020
- 2020-11-30 US US17/106,909 patent/US11517382B2/en active Active
Patent Citations (6)
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US20100076505A1 (en) * | 2008-09-10 | 2010-03-25 | OrthAlign, Inc. | Hip surgery systems and methods |
US20100249796A1 (en) * | 2009-03-24 | 2010-09-30 | Biomet Manufacturing Corp. | Method and Apparatus for Aligning and Securing an Implant Relative to a Patient |
US20140031722A1 (en) * | 2012-07-30 | 2014-01-30 | Orthosoft, Inc. | Pelvic digitizer device with inertial sensor unit and method |
US20140052149A1 (en) * | 2012-08-14 | 2014-02-20 | OrthAlign, Inc. | Hip replacement navigation system and method |
WO2014063181A1 (fr) * | 2012-10-26 | 2014-05-01 | Inline Orthopaedics Pty Ltd | Système chirurgical |
US20140364858A1 (en) * | 2013-06-11 | 2014-12-11 | Orthosoft, Inc. | Acetabular cup prosthesis positioning instrument and method |
Non-Patent Citations (1)
Title |
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See also references of EP3253321A4 * |
Also Published As
Publication number | Publication date |
---|---|
CN107205782B (zh) | 2020-08-11 |
US20160220318A1 (en) | 2016-08-04 |
US20210093401A1 (en) | 2021-04-01 |
CN107205782A (zh) | 2017-09-26 |
US11517382B2 (en) | 2022-12-06 |
EP3253321A4 (fr) | 2018-10-10 |
US10881470B2 (en) | 2021-01-05 |
CA2974848A1 (fr) | 2016-08-11 |
EP3253321A1 (fr) | 2017-12-13 |
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